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<div class="textblock"><code>#include &lt;math.h&gt;</code><br />
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<p><a href="mavlink__conversions_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:a958e4508ed28ee5cc04249144312c15f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a958e4508ed28ee5cc04249144312c15f"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><b>M_PI_2</b>&#160;&#160;&#160;((float)asin(1))</td></tr>
<tr class="separator:a958e4508ed28ee5cc04249144312c15f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a1acebd1df006ab806149f3bf9cc5544e"><td class="memItemLeft" align="right" valign="top">MAVLINK_HELPER void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mavlink__conversions_8h.html#a1acebd1df006ab806149f3bf9cc5544e">mavlink_quaternion_to_dcm</a> (const float quaternion[4], float dcm[3][3])</td></tr>
<tr class="separator:a1acebd1df006ab806149f3bf9cc5544e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a034c8265f27e81fa17cf4cf483b7ad8c"><td class="memItemLeft" align="right" valign="top">MAVLINK_HELPER void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mavlink__conversions_8h.html#a034c8265f27e81fa17cf4cf483b7ad8c">mavlink_dcm_to_euler</a> (const float dcm[3][3], float *roll, float *pitch, float *yaw)</td></tr>
<tr class="separator:a034c8265f27e81fa17cf4cf483b7ad8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a96913fc5846ae95f89c99423e4c0e6c1"><td class="memItemLeft" align="right" valign="top">MAVLINK_HELPER void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mavlink__conversions_8h.html#a96913fc5846ae95f89c99423e4c0e6c1">mavlink_quaternion_to_euler</a> (const float quaternion[4], float *roll, float *pitch, float *yaw)</td></tr>
<tr class="separator:a96913fc5846ae95f89c99423e4c0e6c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a286e44d134e0722c8fbc595f9d25d767"><td class="memItemLeft" align="right" valign="top">MAVLINK_HELPER void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mavlink__conversions_8h.html#a286e44d134e0722c8fbc595f9d25d767">mavlink_euler_to_quaternion</a> (float roll, float pitch, float yaw, float quaternion[4])</td></tr>
<tr class="separator:a286e44d134e0722c8fbc595f9d25d767"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e183fc5dc505bee17dfac58ab18d9f9"><td class="memItemLeft" align="right" valign="top">MAVLINK_HELPER void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mavlink__conversions_8h.html#a4e183fc5dc505bee17dfac58ab18d9f9">mavlink_dcm_to_quaternion</a> (const float dcm[3][3], float quaternion[4])</td></tr>
<tr class="separator:a4e183fc5dc505bee17dfac58ab18d9f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a662d9d3db2fb392c9466dab354b287"><td class="memItemLeft" align="right" valign="top">MAVLINK_HELPER void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mavlink__conversions_8h.html#a5a662d9d3db2fb392c9466dab354b287">mavlink_euler_to_dcm</a> (float roll, float pitch, float yaw, float dcm[3][3])</td></tr>
<tr class="separator:a5a662d9d3db2fb392c9466dab354b287"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>These conversion functions follow the NASA rotation standards definition file available online.</p>
<p>Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free) rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the protocol as widely as possible.</p>
<dl class="section author"><dt>Author</dt><dd>James Goppert </dd>
<dd>
Thomas Gubler <a href="#" onclick="location.href='mai'+'lto:'+'tho'+'ma'+'sgu'+'bl'+'er@'+'gm'+'ail'+'.c'+'om'; return false;">thoma<span style="display: none;">.nosp@m.</span>sgub<span style="display: none;">.nosp@m.</span>ler@g<span style="display: none;">.nosp@m.</span>mail<span style="display: none;">.nosp@m.</span>.com</a> </dd></dl>
</div><h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="a034c8265f27e81fa17cf4cf483b7ad8c"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">MAVLINK_HELPER void mavlink_dcm_to_euler </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>dcm</em>[3][3], </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>yaw</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Converts a rotation matrix to euler angles</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">dcm</td><td>a 3x3 rotation matrix </td></tr>
    <tr><td class="paramname">roll</td><td>the roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>the pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>the yaw angle in radians </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a4e183fc5dc505bee17dfac58ab18d9f9"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">MAVLINK_HELPER void mavlink_dcm_to_quaternion </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>dcm</em>[3][3], </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>quaternion</em>[4]&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Converts a rotation matrix to a quaternion Reference:</p><ul>
<li>Shoemake, Quaternions, <a href="http://www.cs.ucr.edu/~vbz/resources/quatut.pdf">http://www.cs.ucr.edu/~vbz/resources/quatut.pdf</a></li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">dcm</td><td>a 3x3 rotation matrix </td></tr>
    <tr><td class="paramname">quaternion</td><td>a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a5a662d9d3db2fb392c9466dab354b287"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">MAVLINK_HELPER void mavlink_euler_to_dcm </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>yaw</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>dcm</em>[3][3]&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Converts euler angles to a rotation matrix</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">roll</td><td>the roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>the pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>the yaw angle in radians </td></tr>
    <tr><td class="paramname">dcm</td><td>a 3x3 rotation matrix </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a286e44d134e0722c8fbc595f9d25d767"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">MAVLINK_HELPER void mavlink_euler_to_quaternion </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>yaw</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>quaternion</em>[4]&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Converts euler angles to a quaternion</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">roll</td><td>the roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>the pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>the yaw angle in radians </td></tr>
    <tr><td class="paramname">quaternion</td><td>a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a1acebd1df006ab806149f3bf9cc5544e"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">MAVLINK_HELPER void mavlink_quaternion_to_dcm </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>quaternion</em>[4], </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>dcm</em>[3][3]&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Converts a quaternion to a rotation matrix</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">quaternion</td><td>a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) </td></tr>
    <tr><td class="paramname">dcm</td><td>a 3x3 rotation matrix </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a96913fc5846ae95f89c99423e4c0e6c1"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">MAVLINK_HELPER void mavlink_quaternion_to_euler </td>
          <td>(</td>
          <td class="paramtype">const float&#160;</td>
          <td class="paramname"><em>quaternion</em>[4], </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>roll</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>pitch</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float *&#160;</td>
          <td class="paramname"><em>yaw</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Converts a quaternion to euler angles</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">quaternion</td><td>a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) </td></tr>
    <tr><td class="paramname">roll</td><td>the roll angle in radians </td></tr>
    <tr><td class="paramname">pitch</td><td>the pitch angle in radians </td></tr>
    <tr><td class="paramname">yaw</td><td>the yaw angle in radians </td></tr>
  </table>
  </dd>
</dl>

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